CN103839418B - A kind of adaptive city expressway ring road kinetic-control system - Google Patents

Abstract

The present invention relates to a kind of adaptive city expressway ring road kinetic-control system, including coil checker, traffic lights, control module, data memory module；Wherein, coil checker is for detecting the traffic flow data on track, and detected traffic flow data is sent to control module；The traffic flow data predicting traffic flow that control module detects according to coil checker, and the control signal for regulating each ring road vehicle discrepancy amount is generated according to predicting the outcome, then control signal is sent to traffic lights；The data that data memory module detects for storage coil detector, additionally are storable in regulating relevant parameter to be used during ring road vehicle discrepancy amount.

Description

A kind of adaptive city expressway ring road kinetic-control system

Technical field

The present invention relates to magnitude of traffic flow control field, dynamically control particularly to a kind of adaptive city expressway ring road System.

Background technology

Along with rapid increase and the infrastructure construction of China's vehicle guaranteeding organic quantity tend to saturated, urban traffic pressure is more come The biggest.City expressway directly affects the traffic behavior of whole city road network as the sustainer of urban transportation, its running status. City expressway ring road (referring to the gateway of through street) is as the node that crosses of city expressway Yu periphery road network, to regulation road network Traffic flow, the utilization ratio improving through street has important function.In recent years due to motor vehicle number rapid increase, Er Qieshou The restriction of road network load, fast road ramp region has become the region occurred frequently of current traffic congestion.Utilize the traffic control of ring road Effect, improving road network utilization rate to greatest extent is the problem being badly in need of at present solving.

Efficient fast road ramp controls to block up for solving fast road ramp region, improves through street and periphery road network Traffic utilization rate has important function.But city expressway ramp metering rate does not reach perfect condition, subregion at present Ramp metering rate elicitation effect need improve.It is mainly manifested in the following aspects:

(1) the current control for city expressway ring road is mostly relatively fixing control mode, is difficult to according to real-time Dynamic traffic stream information regulates automatically, thus is difficult to give play to maximally utilizing of fast road ramp.

(2) some research of dynamically controlling intelligent for city expressway ring road, should from reality also in theoretic With still there being certain distance.

(3) have at present some by utilizing the system of dynamic information dynamic optimization city expressway ramp metering rate, But system complex is high, implement more difficult.

Summary of the invention

It is an object of the invention to overcome ramp metering rate leading method of the prior art to lack dynamic, system complex, Implement the defects such as more difficult, thus the control system of a kind of city expressway circle that can dynamically adjust is provided.

To achieve these goals, the invention provides a kind of adaptive city expressway ring road kinetic-control system, Including coil checker, traffic lights, control module, data memory module；Wherein,

Described coil checker is for detecting the traffic flow data on track, and is sent out by detected traffic flow data Deliver to control module；The traffic flow data predicting traffic flow that described control module detects according to coil checker, and according in advance Survey result and generate the control signal for regulating each ring road vehicle discrepancy amount, then control signal is sent to traffic lights；Institute State data memory module for the data that storage coil detector detects, be additionally storable in regulating ring road vehicle discrepancy amount Time relevant parameter to be used；

Described traffic flow data includes one or more in following data: occupation rate, density, queue length；Described account for In having rate to be certain time, rolling stock is by the ratio of the aggregate-value of certain section required time with observation time.

In technique scheme, described control module includes that PC control unit, ring road semaphore and traffic flow are pre- Survey unit；Wherein, described ring road semaphore receives traffic flow data from coil checker, sends to traffic lights and controls letter Number, and and described PC control unit between do data interaction；Described PC control unit is to described forecasting traffic flow list Unit sends the parameter required for traffic forecast and basic data, and receives from described forecasting traffic flow unit and predict the outcome, also with Data memory module does data interaction, and provides mutual interface to operating personnel；Described forecasting traffic flow unit is according to friendship Road conditions in the through-flow data prediction short time.

In technique scheme, described PC control unit includes following function: communicate with ring road semaphore, receives circle Telecommunication flow information that road semaphore is uploaded, that detected by coil checker, and issue Traffic signal control to ring road semaphore Parameter and the information of control；Related data is pre-processed, and communicates with data memory module, write to data memory module Enter the detection data with read coil detector and Signalized control parameter；Man-machine interaction, it is provided that visual man-machine interaction ring Border, is arranged and hand-guided system for operating personnel；With traffic forecast unit communication, the parameter of traffic forecast is set and connects Receipts predict the outcome data；Signalized control design of scheme, is controlled the selection of algorithm, parameter setting according to traffic forecast result Arrange with controlling rule.

In technique scheme, described ring road semaphore is used for transmission and the timing of traffic lights of data.

In technique scheme, described traffic lights timing uses the mode of Self Adaptive Control timing, described self adaptation Control timing and use a kind of realization in ALINEA control method and MFA control method.

In technique scheme, forecasting traffic flow unit uses short term prediction method based on similar features to including occupying Rate, density, queue length are predicted at interior traffic flow data.

It is an advantage of the current invention that:

1, the present invention detects data and real-time detector data according to the history of turning branch detection coil, utilizes dependent adaptive to calculate Method is by the dynamic adjustment to ring road traffic signal timing, it is achieved the dynamic control of city expressway ring road, is greatly improved city Through street and the utilization rate of neighbouring road network thereof, thus alleviate urban traffic blocking.

2, the present invention uses short term prediction method based on similar features to including occupation rate, density, queue length Traffic flow data be predicted, the adaptivity substantially increasing control system and the degree of accuracy dynamically controlled.

3, the present invention uses the history detection data that special memory cell stores, and carries out data by host computer Storage controls, and substantially increases memory data output and data operating efficiency.

Accompanying drawing explanation

Fig. 1 is the high-level schematic functional block diagram of the adaptive city expressway ring road kinetic-control system of the present invention；

Fig. 2 is the workflow of the ring road semaphore in the adaptive city expressway ring road kinetic-control system of the present invention Cheng Tu.

Detailed description of the invention

In conjunction with accompanying drawing, the invention will be further described.

City expressway is the road that such as autos only was closed, was intended for Pekinese's loop like that.In city expressway In be typically not provided with traffic lights, but can be provided with on the ring road that city expressway comes in and goes out and control the traffic signals that vehicle comes in and goes out Lamp.According to the real-time road in city expressway, by the control to the traffic lights on ring road, motor vehicle can be controlled and come in and go out City expressway, thus the wagon flow in through street is regulated.

With reference to Fig. 1, the adaptive city expressway ring road kinetic-control system of the present invention includes: coil checker, friendship Ventilating signal lamp, control module, data memory module；Wherein, described coil checker is for detecting the traffic fluxion on track According to, including occupation rate (refer to time occupancy, i.e. in certain time, rolling stock by the aggregate-value of certain section required time with The ratio of observation time), density, queue length etc., and detected data are sent to control module；Described control module The traffic flow data predicting traffic flow detected according to coil checker, and according to the generation that predicts the outcome for regulating each ring road car The control signal of discrepancy amount, is then sent to traffic lights by control signal；Described data memory module is used for storage coil The data that detector detects, additionally are storable in regulating relevant parameter to be used during ring road vehicle discrepancy amount.

Below the various piece of system is further described.

Described control module farther includes PC control unit, ring road semaphore and forecasting traffic flow unit；Its In, described ring road semaphore receives traffic flow data from coil checker, sends control signal to traffic lights, and can be with upper Data interaction is done between the machine control unit of position；Described PC control unit sends traffic forecast to described forecasting traffic flow unit Required parameter and basic data, and predict the outcome from the reception of described forecasting traffic flow unit, also do with data memory module Data interaction, and mutual interface can be provided to operating personnel.

The major function of described PC control unit includes: 1) communicate with ring road semaphore, receives on ring road semaphore Telecommunication flow information that pass, that detected by coil checker, and issue Traffic signal control parameter and control to ring road semaphore Information；2) related data is pre-processed, and communicate with data memory module, to data memory module write and reading The detection data of coil checker and Signalized control parameter；Wherein, described pretreatment includes data are done form conversion, as The Coil Detector data uploaded by ring road semaphore are converted into the field format meeting database storage requirement, or by database The data of storage are converted to be suitable for the data form to the transmission of ring road semaphore；3) human-computer interaction function, it is provided that visual people Machine interactive environment, is arranged and hand-guided system for operating personnel；4) with traffic forecast unit communication, traffic forecast is set Parameter receiving predict the outcome data；5) Signalized control design of scheme, is controlled algorithm according to traffic forecast result Select, parameter sets and controls rule and arranges, and concrete control command will be generated by ring road semaphore.

With reference to Fig. 2, the major function of described ring road semaphore includes: the transmission of data and the timing of traffic lights.Number According to transmission include: with the communication of PC control unit, i.e. upload Coil Detector data to host computer control unit, from upper Machine control unit receives Traffic signal control parameter；With the communication of coil checker, i.e. receive detection number from coil checker According to；With the communication of traffic lights, i.e. send control signal to traffic lights.The timing of traffic lights refers to according to upper Control algolithm set by machine control unit, parameter, control rule, the traffic flow data that coupling coil detector detects, for Each traffic lights distribution traffic light time.Traffic lights timing mainly uses Self Adaptive Control timing, and provides fixing Timing sets and artificial real-time positively controlled function.

Described Self Adaptive Control timing can arrange different control methods according to different applicable cases, in the present invention may be used Use the one in ALINEA control method and MFA control method.Separately below these control methods are said Bright.

1) ALINEA control method

When not having section control centre to coordinate instruction, ALINEA control method is by maintaining main line downstream occupation rate at one Near desired value, it is achieved main line reaches maximum by the volume of traffic.Computing formula is as follows

r_i(k)=r_i(k-1)+K_R[ρ_i,d-ρ_i(k-1)] (1)

In formula: r_iK () is the regulation rate that kth controls the cycle；r_i(k-1) it is green light phase place reality in-1 control cycle of kth The vehicle number that border is passed through；K_RIt is to control parameter；ρ_i,dIt is the expectation density in main line downstream, is in-1 control cycle of kth under main line The actual density of trip；I refers to that ring road is numbered.

2) MFA control method

In given expectation density p_i,dIn the case of, the design of corresponding MFA control method is as follows:

${\widehat{\mathrm{\φ}}}_c\left(k\right)={\widehat{\mathrm{\φ}}}_c(k-1)+\frac{\mathrm{\η\Δ}{r}_i(k-1)({\mathrm{\ρ}}_i\left(k\right)-{\mathrm{\ρ}}_i(k-1)-{\widehat{\mathrm{\φ}}}_{i,c}(k-1)\mathrm{\Δ}{r}_i(k-1))}{\mathrm{\μ}+{\left|\mathrm{\Δ}{r}_i(k-1)\right|}^2}---\left(2\right)$

${\widehat{\mathrm{\φ}}}_{i,c}\left(k\right)={\widehat{\mathrm{\φ}}}_{i,c}\left(1\right),$ If $\left|{\widehat{\mathrm{\φ}}}_{i,c}\left(k\right)\right|\≤\mathrm{\ϵ}$ Or | Δ r_i(k-1) |≤ε or $\mathrm{sign}\left({\widehat{\mathrm{\φ}}}_{i,c}\left(k\right)\right)\≠\mathrm{sign}\left({\widehat{\mathrm{\φ}}}_{i,c}\left(1\right)\right),$ Then

$r_i\left(k\right)=r_i(k-1)+\frac{\mathrm{\ρ}{\widehat{\mathrm{\φ}}}_{i,c}\left(k\right)({\mathrm{\ρ}}_{i,d}(k+1)-{\mathrm{\ρ}}_i\left(k\right))}{\mathrm{\λ}+{\left|{\widehat{\mathrm{\φ}}}_{i,c}\left(k\right)\right|}^2}---\left(3\right)$

Wherein,ForInitial value, represent system pseudo-partial derivative, ρ is step series, and λ is a weight system Number, η is step series involved in formula (2), and μ is involved with weight coefficient in formula (2)；μ ＞ 0, λ ＞ 0, η ∈ (0,1], ρ ∈ (0,1]；ε is an abundant little positive number.

The major function of described forecasting traffic flow unit includes: be that a certain ring road does the short time according to the historical data on the same day Prediction.Traffic flow data to be predicted includes occupation rate, density, queue length etc., and it is single for being predicted these data Solely carry out, and all can use short term prediction method based on similar features (BSA, based on similarity algorithm).This type of method does similarity analysis based on time series feature, then uses Weighted Average Algorithm to carry out pre- Surveying, the method specifically includes following steps:

S1: set traffic flow sequence to be predicted asIts k ∈ 1,2 ..., 7} is working day number；

S2: in the historical data, evaluation work day number is the benchmark of the traffic flow sequence set of kAnd deviation set

S3: calculate deviation setThe confidential interval in each moment, r^dIt is confidential interval radius,Wherein 0 < α < 1 is confidence level, and C (.) is cumulative probability function；

S4: build new sequenceCalculateBaseWherein: T=[j-1, j-n]；N is constant；y_jIt it is the reparation value of j moment outlier；

S5: calculate the base average proportions factor

S6: calculate relative datum

S7:It isPredicted value, wherein m is regression coefficient, in constant, with S4 N consistent；F is anticipation function,It it is the deviation relative to relative datum of the j moment actual measured value；

S8: $\mathrm{if}\left|y_j^d\right|>r_j^d\mathrm{then}{y}_j^d=\mathrm{sign}\left(y_j^d\right)\&times;r_j^d\&times;{\mathrm{\&lambda;}}_j,$ Wherein sign (.) is sign function；

S9:x_i,jPredicted value beWherein:It it is the relative datum value in j moment.

Illustrate:

1) benchmark and the definition of deviation in S2: to class X on working day_kIn all time seriesesTake baseFor X_iMember's sequence number.BaseAverage constitute working day flow benchmark, be designated asI.e. ${\stackrel{\&OverBar;}{x}}_{,:}^{k,b}=\frac{1}{n_k}\underset{i-1}{\overset{n_k}{\mathrm{\&Sigma;}}}{x}_{i,j}^l,j=\mathrm{1,2},...,m.$

Wherein n_kIt is X_kLine number, i.e. number of days or number of members；M is columns, i.e. the hits of every day.Claim $x_{i,j}^d=x_{i,j}-{\stackrel{\&OverBar;}{x}}_{:,j}^{k,b}$ It is x_i,jDeviation (deviation). $x_{:,j}^d=\{x_{i,j}^d\&Element;X_k^d|i=\mathrm{1,2},...,n_k\}$ It isJth row deviation, i.e. longitudinally deviation sequence.It isI-th row deviation, i.e. lateral run-out sequence.

2) in S3, C (.) isProbability-distribution function.

3) in S7 f be Weighted Average Algorithm: Weighted Average Algorithm is simplest a kind of Forecasting Methodology, can be according to Formula below calculates, and is wherein y predicted value, and x is measured value, is w weight.Consider the flow effect of traffic flow half an hour, Take k=6；Assume that data accumulating is the nearest more strong, takeWherein k is to return number.

$y_{N+1}=\underset{i=N-k+1}{\overset{N}{\mathrm{\&Sigma;}}}{w}_i{x}_i,\underset{i=N-k+1}{\overset{N}{\mathrm{\&Sigma;}}}{w}_i=1---\left(7\right)$

4) S8 will predict that deviation control is in confidential interval；

5) control in real-time system, jogging, blowout etc. are rational, but these peel off and can cause actual flow trend and base Accurate in error macroscopically, the base Averagefactor of S4-S7 is to realize the reasonable prediction in the case of this；

6) S9 explanation actual prediction value is the cumulative of deviation and relative datum.

It should be noted last that, above example is only in order to illustrate technical scheme and unrestricted.Although ginseng According to embodiment, the present invention is described in detail, it will be understood by those within the art that, the technical side to the present invention Case is modified or equivalent, and without departure from the spirit and scope of technical solution of the present invention, it all should be contained in the present invention Right in the middle of.

Claims (5)

1. an adaptive city expressway ring road kinetic-control system, it is characterised in that include coil checker, traffic letter Signal lamp, control module, data memory module；Wherein,

Described coil checker is for detecting the traffic flow data on track, and is sent to by detected traffic flow data Control module；The traffic flow data predicting traffic flow that described control module detects according to coil checker, and according to prediction knot Fruit generates the control signal for regulating each ring road vehicle discrepancy amount, then control signal is sent to traffic lights；Described number The data detected for storage coil detector according to memory module, are wanted when being additionally stored in regulation ring road vehicle discrepancy amount The relevant parameter used；

Described traffic flow data includes one or more in following data: occupation rate, density, queue length；Described occupation rate For in certain time, rolling stock is by the ratio of the aggregate-value of certain section required time with observation time；

Described control module includes PC control unit, ring road semaphore and forecasting traffic flow unit；Wherein, described ring road Semaphore receives traffic flow data from coil checker, to traffic lights send control signal, and with described PC control Data interaction is done between unit；Described PC control unit sends required for traffic forecast to described forecasting traffic flow unit Parameter and basic data, and predict the outcome from the reception of described forecasting traffic flow unit, also do data interaction with data memory module, And provide mutual interface to operating personnel；Described forecasting traffic flow unit is according to the road in the traffic flow data prediction short time Condition.

Adaptive city expressway ring road kinetic-control system the most according to claim 1, it is characterised in that on described Position machine control unit include following function: communicate with ring road semaphore, reception ring road semaphore upload, examined by coil checker The telecommunication flow information surveyed, and issue Traffic signal control parameter and control information to ring road semaphore；Related data is carried out Pretreatment, and communicate with data memory module, to data memory module write and the detection data of read coil detector With Signalized control parameter；Man-machine interaction, it is provided that visual man-machine interaction environment, is arranged and hand system for operating personnel Industry control system；With traffic forecast unit communication, the parameter of traffic forecast is set and reception predicts the outcome data；Signalized control scheme Set, be controlled the selection of algorithm, parameter setting according to traffic forecast result and control rule setting.

Adaptive city expressway ring road kinetic-control system the most according to claim 1, it is characterised in that described circle Road semaphore is used for transmission and the timing of traffic lights of data.

Adaptive city expressway ring road kinetic-control system the most according to claim 3, it is characterised in that described friendship Ventilating signal lamp timing uses the mode of Self Adaptive Control timing, and described Self Adaptive Control timing uses ALINEA control method and nothing A kind of realization in model self-adapted control method.

Adaptive city expressway ring road kinetic-control system the most according to claim 1, it is characterised in that traffic flow Predicting unit uses short term prediction method based on similar features to the traffic flow including occupation rate, density, queue length Data are predicted.